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CN112440951A - Method, device and system for automatic braking of vehicle - Google Patents

Method, device and system for automatic braking of vehicle Download PDF

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Publication number
CN112440951A
CN112440951A CN201910822427.2A CN201910822427A CN112440951A CN 112440951 A CN112440951 A CN 112440951A CN 201910822427 A CN201910822427 A CN 201910822427A CN 112440951 A CN112440951 A CN 112440951A
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CN
China
Prior art keywords
vehicle
brake
braking
pressure
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910822427.2A
Other languages
Chinese (zh)
Inventor
黄崇玺
张海洋
B·普奈利尔乔斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to CN201910822427.2A priority Critical patent/CN112440951A/en
Priority to EP20193263.9A priority patent/EP3789254A1/en
Publication of CN112440951A publication Critical patent/CN112440951A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/1755Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17555Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/1755Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2220/00Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04Pedal travel sensor, stroke sensor; Sensing brake request
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/04Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

本发明涉及一种用于车辆自动制动的方法、装置和系统。该系统包括:安装在车辆上的传感器,用于检测车辆的制动踏板和/或加速踏板的行程;安装在车辆上的压力单元,用于产生制动压力以提供给车辆的制动轮缸;以及自动制动控制单元,用于对车辆进行自动制动控制以使其减速行驶;所述自动制动控制单元在车辆自动制动控制过程中基于车辆的减速行驶状况,判断车辆是否需要进行舒适制动停车。本发明的实施例能够使现有的车辆自动制动系统具备扩展的舒适制动停车功能,从而降低车辆在自动制动时的顿挫运动的幅度,改善车辆乘坐体验。

Figure 201910822427

The present invention relates to a method, device and system for automatic braking of a vehicle. The system includes: a sensor mounted on the vehicle for detecting the travel of the vehicle's brake pedal and/or accelerator pedal; a pressure unit mounted on the vehicle for generating brake pressure to be supplied to the vehicle's brake wheel cylinders and an automatic braking control unit for performing automatic braking control on the vehicle to make it decelerate; the automatic braking control unit determines whether the vehicle needs to be decelerated based on the deceleration driving condition of the vehicle during the automatic braking control process of the vehicle. Comfortable braking to stop. The embodiments of the present invention can enable the existing vehicle automatic braking system to have an extended comfortable braking and parking function, thereby reducing the amplitude of the stumbling motion of the vehicle during automatic braking and improving the vehicle riding experience.

Figure 201910822427

Description

Method, device and system for automatic braking of vehicle
Technical Field
The invention relates to a method, a device and a system for automatic braking of a vehicle.
Background
Various systems having a vehicle automatic braking function, for example, an Adaptive Cruise Control (ACC) system, an Automatic Emergency Brake (AEB) system, an Advanced Driving Assistance System (ADAS), and an automobile automatic driving system, may be provided in a vehicle at present.
For a vehicle equipped with a conventional suspension, jerking movement of the vehicle body is inevitable when braking or accelerating. Especially when starting to brake the vehicle until a stop, the vehicle may be jerked several times until energy is dissipated by the suspension. This can be uncomfortable for the driver and passengers and present a safety hazard.
The current automatic braking function of the vehicle often considers only the safety of the vehicle running and cannot stop the vehicle at a very smooth deceleration, so that it is required to reduce the magnitude of the jerk motion of the vehicle during the automatic braking of the vehicle to improve the vehicle riding experience.
Disclosure of Invention
The invention aims to provide an existing automatic vehicle braking system with an expanded comfortable braking and stopping function so as to reduce the range of vehicle pause and stop movement during automatic braking and improve the riding experience of a vehicle.
A method for automatic braking of a vehicle according to an embodiment of the invention comprises: starting automatic braking of the vehicle to brake the vehicle for deceleration running; judging whether the vehicle needs to be subjected to comfortable braking parking or not based on the deceleration running condition of the vehicle; and when the vehicle is judged to need to be subjected to comfortable braking and parking, starting comfortable braking and parking control aiming at the vehicle.
An apparatus for automatically braking a vehicle according to an embodiment of the present invention includes: the braking module is used for automatically braking the vehicle to enable the vehicle to run at a reduced speed; the first judgment module is used for judging whether the vehicle needs to be braked and stopped comfortably or not based on the deceleration running condition of the vehicle; and the control module is used for controlling the braking module to start the comfortable braking parking control aiming at the vehicle when the first judgment module judges that the vehicle needs the comfortable braking parking control.
A controller according to an embodiment of the present invention includes: a processor; and a memory having stored thereon executable instructions that, when executed, cause the processor to perform the method of the foregoing embodiments.
A machine-readable storage medium according to an embodiment of the invention has stored thereon executable instructions that, when executed, cause a machine to perform the method of the preceding embodiment.
A system for automatic braking of a vehicle according to an embodiment of the present invention includes: a sensor mounted on a vehicle for detecting a stroke of a brake pedal and/or an accelerator pedal of the vehicle; a pressure unit mounted on the vehicle for generating a brake pressure to be supplied to a brake wheel cylinder of the vehicle; and an automatic braking control unit for performing automatic braking control on the vehicle to cause the vehicle to run at a reduced speed; wherein the automatic brake control unit comprises the controller, which is connected with the sensor and the pressure unit.
According to the above-described embodiments of the present invention, a very smooth deceleration is maintained during automatic braking of the vehicle, so that the magnitude of jerk motion of the vehicle can be reduced during automatic braking of the vehicle, thereby improving the vehicle ride experience.
Drawings
The features, characteristics, advantages and benefits of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.
Fig. 1 shows a schematic architectural diagram of a system for automatic vehicle braking parking according to an embodiment of the present invention.
FIG. 2 illustrates a general flow diagram of a method for automatically braking a vehicle to a stop, according to an embodiment of the invention.
Fig. 3 shows a schematic view of an apparatus for automatically braking a vehicle to stop according to an embodiment of the present invention.
Fig. 4 shows a schematic diagram of a controller according to an embodiment of the invention.
FIG. 5 shows a schematic diagram of a system for automatically braking a vehicle to a stop, according to an embodiment of the present invention.
Detailed Description
Various embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 1 shows a schematic architectural diagram of a system for automatic vehicle braking parking according to an embodiment of the present invention. As shown in fig. 1, the system 100 for automatically braking a vehicle to stop may include a sensor 20, a pressure unit 30, and an automatic brake control unit 40. The automatic brake control unit 40 is connected to the sensor 20 and the pressure unit 30 by wire or wirelessly, respectively. Here, it is assumed that the system 100 is mounted on a vehicle. The automatic brake control unit 40 may be, for example, but not limited to, an anti-lock brake system controller, an electronic parking brake controller, an Automatic Emergency Brake (AEB) system controller, or any other suitable existing or newly added controller of the vehicle, etc.
The sensor 20 is used to sense the travel of a brake pedal and/or an accelerator pedal (not shown) of the vehicle.
The pressure unit 30 serves to generate a braking pressure to be supplied to a wheel cylinder ZDL of the vehicle so that the wheel cylinder ZDL brakes wheels of the vehicle. For example, the pressure unit 30 may generate the brake pressure by pushing the brake fluid using a motor.
The automatic brake control unit 40 performs automatic brake control of the vehicle according to a preset condition. For example, the AEB system controller detects the distance to the leading vehicle by using the vehicle-mounted radar, analyzes the distance by an Electronic Control Unit (ECU) of the vehicle, gives an alarm to the driver according to different distances and speeds, and if the driver does not have any response after the alarm is given, the AEB system starts automatic brake control, namely, automatically intervenes in the brake system of the vehicle when the safe distance is less than a predetermined range, thereby reducing the collision probability with the leading vehicle/person. When the automatic brake control unit 40 automatically brakes the vehicle to decelerate the vehicle, it may be determined whether or not the vehicle needs to be braked comfortably for parking the vehicle, depending on whether or not the deceleration of the vehicle is within the specified deceleration range R, and when the determination is affirmative, the pressure unit 30 is instructed to generate the specified brake pressure S1, or the pressure unit 30 is caused to generate the reduced specified brake pressure by drawing a part of the brake fluid from the pressure unit 30; the designated brake pressure is smaller than the brake pressure preset by the started automatic brake control of the vehicle and can enable the vehicle to enter a stop state, so that the process from automatic brake to stop is more stable, and the range of the jerking motion of the vehicle is reduced. When it is determined that the vehicle does not need to be braked comfortably for parking, the pressure unit 30 is still instructed to generate a predetermined brake pressure according to the activated automatic braking process of the vehicle.
According to an embodiment of the present invention, when the sensor 20 detects that the brake pedal or the accelerator pedal of the vehicle is stepped on, which indicates that the driver is operating the vehicle, the automatic brake control unit 40 may terminate its control function to allow the driver to take over the vehicle operation right.
According to an embodiment of the present invention, the vehicle automatic braking unit 40 may be implemented by, for example, but not limited to, at least one of the following systems: electronic Stability Program (ESP) systems, intelligent boosters (iBooster) for vehicle braking, intelligent integrated brake (IPB) systems and their redundant brake systems (RBU), so that these automatic brake systems have a comfortable brake parking function.
The system of the embodiment of the invention may support all automatic braking functions of braking the vehicle to a stop, including for example automatic braking functions in ACC (adaptive cruise control), AEB (automatic emergency braking), ADAS (advanced driving assistance system), vehicle automatic driving systems, etc.
FIG. 2 illustrates a general flow diagram of a method for automatically braking a vehicle to a stop, according to an embodiment of the invention. The method 200 shown in FIG. 2 is described in detail below in conjunction with the system 100 shown in FIG. 1.
As shown in fig. 2, in step 202, vehicle automatic braking control is started under predetermined conditions so that the vehicle is automatically braked to run at a reduced speed. In step 204, the automatic brake control unit 40 determines whether the vehicle needs to be stopped with a comfortable brake, based on the deceleration running condition of the vehicle, such as whether its deceleration is within the specified deceleration range R, and whether the speed of the vehicle during the deceleration running is lower than a predetermined vehicle speed (e.g., 5 km/h). The specified deceleration range R may be, for example, but not limited to, greater than-5 m/s2And less than-1 m/s2. The deceleration of the vehicle may be obtained, for example, but not limited to, from an accelerometer of the vehicle. Here, if it is determined that the deceleration of the vehicle is within the specified deceleration range R and, at the same time, the vehicle speed of the vehicle during deceleration running is lower than the predetermined vehicle speed (Y), it is indicated that the vehicle needs to be subjected to a comfort-braking stop, and, if the deceleration of the vehicle is outside the specified deceleration range R or, at the same time, the vehicleAnd if the speed of the vehicle in the process of deceleration running is higher than the preset speed (N), the vehicle does not need to be braked and stopped comfortably, and the automatic braking control of the vehicle is continued.
If the result of the determination of step 204 is negative (N), i.e., the vehicle does not need to be stopped with comfort braking, the automatic brake control of the vehicle is continued, and the automatic brake control unit 40 instructs the pressure unit 30 to generate a predetermined corresponding brake pressure in accordance with the activated automatic brake control of the vehicle.
If the result of the determination of step 204 is positive (Y), i.e., the vehicle requires a comfort brake stop, then it may jump to step 214 to initiate comfort brake stop control and autobrake control unit 40 may instruct pressure unit 30 to generate a designated brake pressure S1, where designated brake pressure S1 is less than the corresponding brake pressure predetermined by the initiated vehicle autobrake control.
According to another embodiment of the present invention, when it is determined in step 204 that the vehicle needs to perform the comfort brake parking, a distance between the vehicle and a front obstacle may be detected using an in-vehicle sensor (e.g., an in-vehicle radar or a camera) (step 210), and whether to activate the comfort brake parking control is determined based on the distance to the front obstacle and the current operating conditions of the vehicle (e.g., the current vehicle speed, the braking distance, etc.) (step 212). When it is determined in step 212 that the distance to the preceding obstacle and the current operating state of the vehicle allow for a comfort brake stop (Y), for example, the distance to the preceding obstacle is long enough and the operating state of the vehicle can meet the need for a comfort brake stop control, the comfort brake stop control is turned on (step 214). When the step 212 judges that the distance between the vehicle and the front obstacle and the current working state of the vehicle do not allow comfortable braking and parking (N), the automatic braking control of the vehicle is continued to ensure that the vehicle does not collide with the front obstacle when the automatic braking and parking are carried out; during the automatic braking process of the vehicle, the vehicle-mounted sensor can still continuously monitor the distance between the vehicle and the front obstacle, which is changed constantly, for feedback control. The comfort brake stop control is activated once the distance to the preceding obstacle is detected and the current operating state of the vehicle allows for comfort brake stop.
According to an embodiment of the present invention, the active comfort brake park control includes: the pressure unit 30 for generating brake pressure in the vehicle is instructed to generate a designated brake pressure that gradually decreases and to finally maintain the generated designated brake pressure at a pressure necessary to stop the vehicle so that the vehicle speed of the vehicle gradually decreases and finally enters a stopped state very smoothly. If the vehicle is not stopped all the time or an obstacle suddenly appears in front, feedback control may be performed to instruct the pressure unit 30 to generate increased braking pressure.
According to an embodiment of the present invention, the specified brake pressure generated by the pressure unit 30 is generated by one of the following operations during the comfort brake parking control: a first operation of instructing the pressure unit 30 to generate a specified braking pressure to be supplied to the brake cylinders of the vehicle; alternatively, the second operation causes the pressure unit 30 to generate a reduced designated brake pressure by drawing a portion of the brake fluid from the pressure unit 30. The generated specified braking pressure may be less than the braking pressure predetermined by the automatic braking control of the vehicle to make the braking process more smooth. The first operation is a manner of generating the brake pressure by instructing the pressure unit of the vehicle, noise and vibration are not generated, and the brake pressure is smoother. These two operations may be applied to different pressure units. For example, IPB systems and intelligent boosters (iboorster) are adapted to perform a first operation; an Electronic Stability Program (ESP) system and a Redundant Brake Unit (RBU) are adapted to perform a second operation.
According to an embodiment of the present invention, after the comfort brake stop control is turned on, it may be determined whether the vehicle has stopped according to the vehicle speed of the vehicle (step 216). If the vehicle is judged to be stopped (Y), the automatic parking control of the vehicle is started to enable the vehicle to automatically keep a static state (step 218), for example, the vehicle automatically starts four-wheel braking when waiting for traffic lights or parking on an uphill or downhill, and the vehicle is always in the static state after parking without using a hand brake or an electronic hand brake. If it is determined that the vehicle has not stopped (N), the comfort brake park control may continue until the vehicle comes to a stationary stop. The automatic parking control of the vehicle includes, but is not limited to, an Electronic Parking Brake (EPB) system, an automatic parking brake (AVH) system, a P-range Lock (P-Lock), and the like.
Fig. 3 shows a schematic view of a device 300 for automatic braking of a vehicle according to an embodiment of the invention. As shown in fig. 3, the apparatus 300 includes: the braking module 310 is used for automatically braking the vehicle to enable the vehicle to run at a reduced speed; a first determination module 320 for determining whether the vehicle needs to be braked and stopped comfortably based on a deceleration running condition (such as deceleration, or speed) of the vehicle; and a control module 330, configured to, when the first determination module 320 determines that the vehicle needs to perform the comfort brake parking control, the control module 330 starts the comfort brake parking control for the vehicle. The first determination module 320 may be connected to various on-board sensors, such as an accelerometer, for detecting the driving condition of the vehicle. When the deceleration of the vehicle is within a specified deceleration range (e.g., greater than-5 m/s)2And less than-1 m/s2) When the speed of the vehicle is lower than a predetermined speed (e.g., 5 km/h), the first determining module 320 determines that the vehicle needs to be braked comfortably for parking, and the control module 320 then starts a comfort brake parking control for the vehicle.
Fig. 4 shows a schematic view of a device 400 for automatic braking of a vehicle according to another embodiment of the invention. In the apparatus 400 of this embodiment, in addition to including the braking module 410, the first determining module 420, and the control module 430 similar to those of the apparatus 300 of fig. 3, the apparatus 400 may further include: a distance detection module 460 (e.g., a vehicle-mounted radar or a camera) for detecting a distance between the vehicle and a front obstacle when the first judgment module 420 judges that the vehicle needs to be braked and stopped comfortably; a second determining module 440 for determining whether to initiate a comfort brake stop control for the vehicle based on the detected distance to the preceding obstacle and the current operating condition of the vehicle. When the second determination module 440 determines that the comfort brake parking control for the subject vehicle can be turned on, the control module 430 controls the brake module 410 to turn on the comfort brake parking control for the vehicle.
The apparatus 400 may further comprise: a third judging module 450, configured to judge whether the vehicle has stopped according to the vehicle speed of the vehicle; if the third determination module 450 determines that the vehicle has stopped, the control module 430 turns on the automatic parking control of the vehicle to automatically maintain the vehicle in a stationary state.
It should be understood that the first determining module 320 and the control module 330 in the apparatus 300 shown in fig. 3, and the first determining module 420, the control module 430, the second determining module 440 and the third determining module 450 in the apparatus 400 shown in fig. 4 can be implemented by software, hardware or a combination of software and hardware; these modules may also be provided in the autobrake control unit 40 as shown in fig. 1 or any other suitable device on the vehicle.
FIG. 5 shows a schematic diagram of a controller according to an embodiment of the invention. As shown in fig. 5, the controller 500 includes a memory 502 and a processor 504. The memory 502 has stored thereon executable instructions that, when executed, cause the processor 504 to perform the method for automatic vehicle braking parking as described in the embodiments above.
Embodiments of the present invention may also provide a machine-readable storage medium having stored thereon executable instructions that, when executed, cause a machine to perform the method for automatically braking a vehicle to a stop as described in the above embodiments.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (17)

1. A method for automatic braking of a vehicle, comprising:
starting vehicle automatic braking control to brake the vehicle to perform deceleration running;
judging whether the vehicle needs to be subjected to comfortable braking parking or not based on the deceleration running condition of the vehicle;
and when the vehicle is judged to need to be subjected to comfortable braking and parking, starting comfortable braking and parking control aiming at the vehicle.
2. The method of claim 1, wherein
The deceleration running condition includes a deceleration of the vehicle and a speed of the vehicle at the time of deceleration running, an
Determining whether the vehicle needs to be comfortably braked to a stop comprises: when the deceleration of the vehicle is within a specified deceleration range while the speed of the vehicle is lower than a predetermined vehicle speed, it is determined that the vehicle needs to be stopped with comfort braking.
3. The method of claim 1, further comprising:
when the fact that the vehicle needs to be braked and stopped comfortably is judged, the distance between the vehicle and a front obstacle is detected;
and determining whether to start comfortable braking parking control for the vehicle based on the distance to the front obstacle and the current working condition of the vehicle.
4. The method of claim 1, wherein the comfort brake park control comprises:
the pressure unit for generating brake pressure in the vehicle is instructed to generate a gradually decreasing specified brake pressure and to finally maintain the specified brake pressure at a necessary pressure at which the vehicle can be stopped.
5. The method of claim 4, wherein the specified brake pressure is generated by:
instructing the pressure unit to generate a specified brake pressure to be supplied to a brake wheel cylinder of the vehicle; alternatively, the pressure unit is caused to generate a reduced commanded brake pressure by drawing a portion of the brake fluid away from the pressure unit;
wherein the specified brake pressure is smaller than a brake pressure predetermined by the vehicle automatic braking control.
6. The method of claim 1, further comprising:
judging whether the vehicle stops or not according to the speed of the vehicle; and
and if the vehicle is judged to be stopped, starting automatic parking control of the vehicle.
7. An apparatus for automatic braking of a vehicle, comprising:
the braking module is used for automatically braking the vehicle to enable the vehicle to run at a reduced speed;
the first judgment module is used for judging whether the vehicle needs to be braked and stopped comfortably or not based on the deceleration running condition of the vehicle; and
and the control module is used for controlling the braking module to start the comfortable braking parking control aiming at the vehicle when the first judgment module judges that the vehicle needs the comfortable braking parking control.
8. The apparatus of claim 7, wherein,
the deceleration running condition includes a deceleration of the vehicle and a speed of the vehicle at the time of deceleration running, an
The first determination module determines that the vehicle needs to be stopped with a comfort brake when the deceleration of the vehicle is within a specified deceleration range while the speed of the vehicle is lower than a predetermined vehicle speed.
9. The apparatus of claim 7, further comprising:
the distance detection module is used for detecting the distance between the vehicle and a front obstacle when the first judgment module judges that the vehicle needs to be braked and stopped comfortably;
the second judgment module is used for judging whether to start comfortable braking parking control aiming at the vehicle or not based on the distance between the vehicle and the front obstacle and the current working condition of the vehicle;
wherein the control module is further to: when the second determination module determines that the comfort brake parking control for the vehicle can be turned on, the brake module is controlled to turn on the comfort brake parking control for the vehicle.
10. The method of claim 7, wherein the brake module instructs a pressure unit in the vehicle for generating brake pressure to generate a gradually decreasing designated brake pressure and to eventually maintain the designated brake pressure at a pressure necessary to bring the vehicle to a stop.
11. The apparatus of claim 10, wherein the specified brake pressure is generated by:
the pressure unit generates a specified brake pressure according to a command of the control module to supply to a brake wheel cylinder of the vehicle; or, according to the command of the control module, the pressure unit generates reduced designated brake pressure by drawing a part of brake fluid from the pressure unit;
wherein the specified brake pressure is less than a brake pressure predetermined by the vehicle autobraking process.
12. The apparatus of claim 7, further comprising:
the third judgment module is used for judging whether the vehicle stops or not according to the speed of the vehicle; and
wherein the control module is further to: and if the third judgment module judges that the vehicle stops, starting automatic parking control of the vehicle.
13. A controller, comprising:
a processor; and
a memory having stored thereon executable instructions that, when executed, cause the processor to perform the method of any of claims 1-6.
14. A machine-readable storage medium having stored thereon executable instructions that, when executed, cause a machine to perform the method of any of claims 1-6.
15. A system for automatic braking of a vehicle, comprising:
a sensor mounted on a vehicle for detecting a stroke of a brake pedal and/or an accelerator pedal of the vehicle;
a pressure unit mounted on the vehicle for generating a brake pressure to be supplied to a brake wheel cylinder of the vehicle; and
an automatic braking control unit for performing automatic braking control on the vehicle to cause the vehicle to run at a reduced speed; wherein the autobrake control unit comprises the controller of claim 13 connected to the sensor and the pressure unit.
16. The system of claim 15, wherein the controller terminates a control function of the vehicle autobrake unit when the sensor detects that the brake pedal or accelerator pedal is depressed.
17. The system of claim 15 or 16, wherein the vehicle autobrake unit is implemented by at least one of:
electronic Stability Program (ESP) system, intelligent booster (iBooster), intelligent integrated brake (IPB) system and Redundant Brake Unit (RBU) thereof.
CN201910822427.2A 2019-09-02 2019-09-02 Method, device and system for automatic braking of vehicle Pending CN112440951A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201910822427.2A CN112440951A (en) 2019-09-02 2019-09-02 Method, device and system for automatic braking of vehicle
EP20193263.9A EP3789254A1 (en) 2019-09-02 2020-08-28 Method, device and system for automatic braking of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910822427.2A CN112440951A (en) 2019-09-02 2019-09-02 Method, device and system for automatic braking of vehicle

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Publication Number Publication Date
CN112440951A true CN112440951A (en) 2021-03-05

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